User Manual

Runtime Queries
Advanced Digital Motor Controller User Manual 205
the query returns 0. The total number of Analog input channels varies from one controller
model to another and can be found in the product datasheet.
Syntax Serial: ?AIC [cc]
Argument: InputNbr
Min: 1 Max: Total Number of Analog Inputs
Syntax Scripting: result = getvalue(_AIC, cc)
result = getvalue(_ANAINC, cc)
Reply:
AIC=nn Type: Signed 16-bit Min: -1000 Max: 1000
Where:
cc = Analog Input number
nn = Converted analog input value +/-1000 range
ANG - Read Rotor Angle
Alias: ANG HexCode: 42 CANOpen id: 0x2132
Description:
On brushless controller operating in sinusoidal mode, this query returns the real time val-
ue of the rotor’s electrical angle of brushless motor. This query is useful for verifying trou-
bleshooting sin/cos and SPI/SSI sensors. Angle are reported in 0-511 degrees.
Syntax Serial: ?ANG [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_ANG, cc)
Reply:
ANG=nn Type: Unsigned 16-bit Min: 0 Max: 511
Where:
cc = Motor channel
nn = Rotor electrical angle
ASI - Read Raw Sin/Cos sensor
Alias: ASI HexCode: 33 CANOpen id:
Description:
Returns real time raw values of ADC connected to sin/cos sensors of each motor or the
real time values of the raw data reported by the SSI sensor of the motor. This query is
useful for verifying troubleshooting sin/cos sensors and SSI sensors.
Syntax Serial: ?ASI [cc]